Minh Nguyen / MPU6050

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Diff: MPU6050.cpp

Revision:
15:11993501be6c
Parent:
13:23c9db5753c8
--- a/MPU6050.cpp	Mon Feb 15 21:48:30 2021 +0000
+++ b/MPU6050.cpp	Wed Mar 10 20:53:54 2021 +0000
@@ -3,7 +3,8 @@
  */
 #include "MPU6050.h"
 
-MPU6050::MPU6050(PinName sda, PinName scl) : connection(sda, scl) {
+MPU6050::MPU6050(I2C *i2cIn){
+    connection = i2cIn;
     this->setSleepMode(false);
     
     //Initializations:
@@ -21,19 +22,19 @@
     temp[0]=address;
     temp[1]=data;
     
-    connection.write(MPU6050_ADDRESS * 2,temp,2);
+    connection->write(MPU6050_ADDRESS * 2,temp,2);
 }
 
 char MPU6050::read(char address) {
     char retval;
-    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
-    connection.read(MPU6050_ADDRESS * 2, &retval, 1);
+    connection->write(MPU6050_ADDRESS * 2, &address, 1, true);
+    connection->read(MPU6050_ADDRESS * 2, &retval, 1);
     return retval;
 }
 
 void MPU6050::read(char address, char *data, int length) {
-    connection.write(MPU6050_ADDRESS * 2, &address, 1, true);
-    connection.read(MPU6050_ADDRESS * 2, data, length);
+    connection->write(MPU6050_ADDRESS * 2, &address, 1, true);
+    connection->read(MPU6050_ADDRESS * 2, data, length);
 }
 
 void MPU6050::setSleepMode(bool state) {